/* --------------------------------------------------------------------------
 * DakaXIMU 
 * --------------------------------------------------------------------------
 * prog:  Max Rheiner / Interaction Design / zhdk / http://iad.zhdk.ch/
 * date:  11/12/2011 (m/d/y)
 * ----------------------------------------------------------------------------
 * The IMU code is mainly based on the great work of Noah Zerkin / /MPU-6050 6-axis DMP Demo v0.01
 * ----------------------------------------------------------------------------
 */


#include <avr/interrupt.h>
#include <avr/pgmspace.h>

#include "DakaXIMU.h"


//#define  SERIAL_DEBUG
void DEBUG_OUTPUT(const char* str)
{
#ifdef SERIAL_DEBUG
    Serial.println(str);
#endif
}

void DEBUG_OUTPUT(byte val,int format)
{
#ifdef SERIAL_DEBUG
    Serial.println(val,format);
#endif
}
///////////////////////////////////////////////////////////////////////////////
// IMU Implementation from Noah Zerkin

void bank_sel(byte bank);
void regWrite(byte addy, byte regUpdate);
byte regRead(byte addy);
boolean fifoReady();
void serialPrintFloatArr(float * arr, int length);
void serialFloatPrint(float f);


#define MPU_ADDR 0x68
#define MEM_START_ADDR 0x6E
#define MEM_R_W 0x6F

long lastRead = 0;
byte processed_packet[8];
byte received_packet[50];
byte temp = 0;
byte fifoCountL = 0;
byte fifoCountL2 = 0;
byte packetCount = 0x00;
boolean longPacket = false;
boolean firstPacket = true;
float q[4];

//This 3D array contains the default DMP memory bank binary that gets loaded during initialization.
//In the Invensense UC3-A3 firmware this is uploaded in 128 byte tranmissions, but the Arduino Wire
//library only supports 32 byte transmissions, including the register address to which you're writing,
//so I broke it up into 16 byte transmission payloads which are sent in the dmp_init() function below.
//
//This was reconstructed from observed I2C traffic generated by the UC3-A3 demo code, and not extracted
//directly from that code. That is true of all transmissions in this sketch, and any documentation has
//been added after the fact by referencing the Invensense code.

unsigned const char dmpMem[8][16][16] PROGMEM = {
    {
        {
            0xFB, 0x00, 0x00, 0x3E, 0x00, 0x0B, 0x00, 0x36, 0x00, 0x01, 0x00, 0x02, 0x00, 0x03, 0x00, 0x00        }
        ,
        {
            0x00, 0x65, 0x00, 0x54, 0xFF, 0xEF, 0x00, 0x00, 0xFA, 0x80, 0x00, 0x0B, 0x12, 0x82, 0x00, 0x01        }
        ,
        {
            0x00, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00        }
        ,
        {
            0x00, 0x28, 0x00, 0x00, 0xFF, 0xFF, 0x45, 0x81, 0xFF, 0xFF, 0xFA, 0x72, 0x00, 0x00, 0x00, 0x00        }
        ,
        {
            0x00, 0x00, 0x03, 0xE8, 0x00, 0x00, 0x00, 0x01, 0x00, 0x01, 0x7F, 0xFF, 0xFF, 0xFE, 0x80, 0x01        }
        ,
        {
            0x00, 0x1B, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00        }
        ,
        {
            0x00, 0x3E, 0x03, 0x30, 0x40, 0x00, 0x00, 0x00, 0x02, 0xCA, 0xE3, 0x09, 0x3E, 0x80, 0x00, 0x00        }
        ,
        {
            0x20, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 0x60, 0x00, 0x00, 0x00        }
        ,
        {
            0x41, 0xFF, 0x00, 0x00, 0x00, 0x00, 0x0B, 0x2A, 0x00, 0x00, 0x16, 0x55, 0x00, 0x00, 0x21, 0x82        }
        ,
        {
            0xFD, 0x87, 0x26, 0x50, 0xFD, 0x80, 0x00, 0x00, 0x00, 0x1F, 0x00, 0x00, 0x00, 0x05, 0x80, 0x00        }
        ,
        {
            0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00        }
        ,
        {
            0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x6F, 0x00, 0x02, 0x65, 0x32, 0x00, 0x00, 0x5E, 0xC0        }
        ,
        {
            0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00        }
        ,
        {
            0xFB, 0x8C, 0x6F, 0x5D, 0xFD, 0x5D, 0x08, 0xD9, 0x00, 0x7C, 0x73, 0x3B, 0x00, 0x6C, 0x12, 0xCC        }
        ,
        {
            0x32, 0x00, 0x13, 0x9D, 0x32, 0x00, 0xD0, 0xD6, 0x32, 0x00, 0x08, 0x00, 0x40, 0x00, 0x01, 0xF4        }
        ,
        {
            0xFF, 0xE6, 0x80, 0x79, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0xD0, 0xD6, 0x00, 0x00, 0x27, 0x10        }
    }
    ,
    {
        {
            0xFB, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00        }
        ,
        {
            0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x01, 0x00, 0x00, 0x00        }
        ,
        {
            0x00, 0x00, 0xFA, 0x36, 0xFF, 0xBC, 0x30, 0x8E, 0x00, 0x05, 0xFB, 0xF0, 0xFF, 0xD9, 0x5B, 0xC8        }
        ,
        {
            0xFF, 0xD0, 0x9A, 0xBE, 0x00, 0x00, 0x10, 0xA9, 0xFF, 0xF4, 0x1E, 0xB2, 0x00, 0xCE, 0xBB, 0xF7        }
        ,
        {
            0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x04, 0x00, 0x02, 0x00, 0x02, 0x02, 0x00, 0x00, 0x0C        }
        ,
        {
            0xFF, 0xC2, 0x80, 0x00, 0x00, 0x01, 0x80, 0x00, 0x00, 0xCF, 0x80, 0x00, 0x40, 0x00, 0x00, 0x00        }
        ,
        {
            0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x06, 0x00, 0x00, 0x00, 0x00, 0x14        }
        ,
        {
            0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00        }
        ,
        {
            0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00        }
        ,
        {
            0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00        }
        ,
        {
            0x00, 0x00, 0x00, 0x00, 0x03, 0x3F, 0x68, 0xB6, 0x79, 0x35, 0x28, 0xBC, 0xC6, 0x7E, 0xD1, 0x6C        }
        ,
        {
            0x80, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0xB2, 0x6A, 0x00, 0x00, 0x00, 0x00        }
        ,
        {
            0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x3F, 0xF0, 0x00, 0x00, 0x00, 0x30        }
        ,
        {
            0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00        }
        ,
        {
            0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00        }
        ,
        {
            0x00, 0x00, 0x25, 0x4D, 0x00, 0x2F, 0x70, 0x6D, 0x00, 0x00, 0x05, 0xAE, 0x00, 0x0C, 0x02, 0xD0        }
    }
    ,
    {
        {
            0x00, 0x00, 0x00, 0x00, 0x00, 0x65, 0x00, 0x54, 0xFF, 0xEF, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00        }
        ,
        {
            0x00, 0x00, 0x01, 0x00, 0x00, 0x44, 0x00, 0x00, 0x00, 0x00, 0x0C, 0x00, 0x00, 0x00, 0x01, 0x00        }
        ,
        {
            0x00, 0x00, 0x00, 0x00, 0x00, 0x65, 0x00, 0x00, 0x00, 0x54, 0x00, 0x00, 0xFF, 0xEF, 0x00, 0x00        }
        ,
        {
            0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00        }
        ,
        {
            0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00        }
        ,
        {
            0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00        }
        ,
        {
            0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00        }
        ,
        {
            0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00        }
        ,
        {
            0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00        }
        ,
        {
            0x00, 0x1B, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00        }
        ,
        {
            0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00        }
        ,
        {
            0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00        }
        ,
        {
            0x00, 0x1B, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00        }
        ,
        {
            0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00        }
        ,
        {
            0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00        }
        ,
        {
            0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00        }
    }
    ,
    {
        {
            0xD8, 0xDC, 0xBA, 0xA2, 0xF1, 0xDE, 0xB2, 0xB8, 0xB4, 0xA8, 0x81, 0x91, 0xF7, 0x4A, 0x90, 0x7F        }
        ,
        {
            0x91, 0x6A, 0xF3, 0xF9, 0xDB, 0xA8, 0xF9, 0xB0, 0xBA, 0xA0, 0x80, 0xF2, 0xCE, 0x81, 0xF3, 0xC2        }
        ,
        {
            0xF1, 0xC1, 0xF2, 0xC3, 0xF3, 0xCC, 0xA2, 0xB2, 0x80, 0xF1, 0xC6, 0xD8, 0x80, 0xBA, 0xA7, 0xDF        }
        ,
        {
            0xDF, 0xDF, 0xF2, 0xA7, 0xC3, 0xCB, 0xC5, 0xB6, 0xF0, 0x87, 0xA2, 0x94, 0x24, 0x48, 0x70, 0x3C        }
        ,
        {
            0x95, 0x40, 0x68, 0x34, 0x58, 0x9B, 0x78, 0xA2, 0xF1, 0x83, 0x92, 0x2D, 0x55, 0x7D, 0xD8, 0xB1        }
        ,
        {
            0xB4, 0xB8, 0xA1, 0xD0, 0x91, 0x80, 0xF2, 0x70, 0xF3, 0x70, 0xF2, 0x7C, 0x80, 0xA8, 0xF1, 0x01        }
        ,
        {
            0xB0, 0x98, 0x87, 0xD9, 0x43, 0xD8, 0x86, 0xC9, 0x88, 0xBA, 0xA1, 0xF2, 0x0E, 0xB8, 0x97, 0x80        }
        ,
        {
            0xF1, 0xA9, 0xDF, 0xDF, 0xDF, 0xAA, 0xDF, 0xDF, 0xDF, 0xF2, 0xAA, 0xC5, 0xCD, 0xC7, 0xA9, 0x0C        }
        ,
        {
            0xC9, 0x2C, 0x97, 0x97, 0x97, 0x97, 0xF1, 0xA9, 0x89, 0x26, 0x46, 0x66, 0xB0, 0xB4, 0xBA, 0x80        }
        ,
        {
            0xAC, 0xDE, 0xF2, 0xCA, 0xF1, 0xB2, 0x8C, 0x02, 0xA9, 0xB6, 0x98, 0x00, 0x89, 0x0E, 0x16, 0x1E        }
        ,
        {
            0xB8, 0xA9, 0xB4, 0x99, 0x2C, 0x54, 0x7C, 0xB0, 0x8A, 0xA8, 0x96, 0x36, 0x56, 0x76, 0xF1, 0xB9        }
        ,
        {
            0xAF, 0xB4, 0xB0, 0x83, 0xC0, 0xB8, 0xA8, 0x97, 0x11, 0xB1, 0x8F, 0x98, 0xB9, 0xAF, 0xF0, 0x24        }
        ,
        {
            0x08, 0x44, 0x10, 0x64, 0x18, 0xF1, 0xA3, 0x29, 0x55, 0x7D, 0xAF, 0x83, 0xB5, 0x93, 0xAF, 0xF0        }
        ,
        {
            0x00, 0x28, 0x50, 0xF1, 0xA3, 0x86, 0x9F, 0x61, 0xA6, 0xDA, 0xDE, 0xDF, 0xD9, 0xFA, 0xA3, 0x86        }
        ,
        {
            0x96, 0xDB, 0x31, 0xA6, 0xD9, 0xF8, 0xDF, 0xBA, 0xA6, 0x8F, 0xC2, 0xC5, 0xC7, 0xB2, 0x8C, 0xC1        }
        ,
        {
            0xB8, 0xA2, 0xDF, 0xDF, 0xDF, 0xA3, 0xDF, 0xDF, 0xDF, 0xD8, 0xD8, 0xF1, 0xB8, 0xA8, 0xB2, 0x86        }
    }
    ,
    {
        {
            0xB4, 0x98, 0x0D, 0x35, 0x5D, 0xB8, 0xAA, 0x98, 0xB0, 0x87, 0x2D, 0x35, 0x3D, 0xB2, 0xB6, 0xBA        }
        ,
        {
            0xAF, 0x8C, 0x96, 0x19, 0x8F, 0x9F, 0xA7, 0x0E, 0x16, 0x1E, 0xB4, 0x9A, 0xB8, 0xAA, 0x87, 0x2C        }
        ,
        {
            0x54, 0x7C, 0xB9, 0xA3, 0xDE, 0xDF, 0xDF, 0xA3, 0xB1, 0x80, 0xF2, 0xC4, 0xCD, 0xC9, 0xF1, 0xB8        }
        ,
        {
            0xA9, 0xB4, 0x99, 0x83, 0x0D, 0x35, 0x5D, 0x89, 0xB9, 0xA3, 0x2D, 0x55, 0x7D, 0xB5, 0x93, 0xA3        }
        ,
        {
            0x0E, 0x16, 0x1E, 0xA9, 0x2C, 0x54, 0x7C, 0xB8, 0xB4, 0xB0, 0xF1, 0x97, 0x83, 0xA8, 0x11, 0x84        }
        ,
        {
            0xA5, 0x09, 0x98, 0xA3, 0x83, 0xF0, 0xDA, 0x24, 0x08, 0x44, 0x10, 0x64, 0x18, 0xD8, 0xF1, 0xA5        }
        ,
        {
            0x29, 0x55, 0x7D, 0xA5, 0x85, 0x95, 0x02, 0x1A, 0x2E, 0x3A, 0x56, 0x5A, 0x40, 0x48, 0xF9, 0xF3        }
        ,
        {
            0xA3, 0xD9, 0xF8, 0xF0, 0x98, 0x83, 0x24, 0x08, 0x44, 0x10, 0x64, 0x18, 0x97, 0x82, 0xA8, 0xF1        }
        ,
        {
            0x11, 0xF0, 0x98, 0xA2, 0x24, 0x08, 0x44, 0x10, 0x64, 0x18, 0xDA, 0xF3, 0xDE, 0xD8, 0x83, 0xA5        }
        ,
        {
            0x94, 0x01, 0xD9, 0xA3, 0x02, 0xF1, 0xA2, 0xC3, 0xC5, 0xC7, 0xD8, 0xF1, 0x84, 0x92, 0xA2, 0x4D        }
        ,
        {
            0xDA, 0x2A, 0xD8, 0x48, 0x69, 0xD9, 0x2A, 0xD8, 0x68, 0x55, 0xDA, 0x32, 0xD8, 0x50, 0x71, 0xD9        }
        ,
        {
            0x32, 0xD8, 0x70, 0x5D, 0xDA, 0x3A, 0xD8, 0x58, 0x79, 0xD9, 0x3A, 0xD8, 0x78, 0x93, 0xA3, 0x4D        }
        ,
        {
            0xDA, 0x2A, 0xD8, 0x48, 0x69, 0xD9, 0x2A, 0xD8, 0x68, 0x55, 0xDA, 0x32, 0xD8, 0x50, 0x71, 0xD9        }
        ,
        {
            0x32, 0xD8, 0x70, 0x5D, 0xDA, 0x3A, 0xD8, 0x58, 0x79, 0xD9, 0x3A, 0xD8, 0x78, 0xA8, 0x8A, 0x9A        }
        ,
        {
            0xF0, 0x28, 0x50, 0x78, 0x9E, 0xF3, 0x88, 0x18, 0xF1, 0x9F, 0x1D, 0x98, 0xA8, 0xD9, 0x08, 0xD8        }
        ,
        {
            0xC8, 0x9F, 0x12, 0x9E, 0xF3, 0x15, 0xA8, 0xDA, 0x12, 0x10, 0xD8, 0xF1, 0xAF, 0xC8, 0x97, 0x87        }
    }
    ,
    {
        {
            0x34, 0xB5, 0xB9, 0x94, 0xA4, 0x21, 0xF3, 0xD9, 0x22, 0xD8, 0xF2, 0x2D, 0xF3, 0xD9, 0x2A, 0xD8        }
        ,
        {
            0xF2, 0x35, 0xF3, 0xD9, 0x32, 0xD8, 0x81, 0xA4, 0x60, 0x60, 0x61, 0xD9, 0x61, 0xD8, 0x6C, 0x68        }
        ,
        {
            0x69, 0xD9, 0x69, 0xD8, 0x74, 0x70, 0x71, 0xD9, 0x71, 0xD8, 0xB1, 0xA3, 0x84, 0x19, 0x3D, 0x5D        }
        ,
        {
            0xA3, 0x83, 0x1A, 0x3E, 0x5E, 0x93, 0x10, 0x30, 0x81, 0x10, 0x11, 0xB8, 0xB0, 0xAF, 0x8F, 0x94        }
        ,
        {
            0xF2, 0xDA, 0x3E, 0xD8, 0xB4, 0x9A, 0xA8, 0x87, 0x29, 0xDA, 0xF8, 0xD8, 0x87, 0x9A, 0x35, 0xDA        }
        ,
        {
            0xF8, 0xD8, 0x87, 0x9A, 0x3D, 0xDA, 0xF8, 0xD8, 0xB1, 0xB9, 0xA4, 0x98, 0x85, 0x02, 0x2E, 0x56        }
        ,
        {
            0xA5, 0x81, 0x00, 0x0C, 0x14, 0xA3, 0x97, 0xB0, 0x8A, 0xF1, 0x2D, 0xD9, 0x28, 0xD8, 0x4D, 0xD9        }
        ,
        {
            0x48, 0xD8, 0x6D, 0xD9, 0x68, 0xD8, 0xB1, 0x84, 0x0D, 0xDA, 0x0E, 0xD8, 0xA3, 0x29, 0x83, 0xDA        }
        ,
        {
            0x2C, 0x0E, 0xD8, 0xA3, 0x84, 0x49, 0x83, 0xDA, 0x2C, 0x4C, 0x0E, 0xD8, 0xB8, 0xB0, 0xA8, 0x8A        }
        ,
        {
            0x9A, 0xF5, 0x20, 0xAA, 0xDA, 0xDF, 0xD8, 0xA8, 0x40, 0xAA, 0xD0, 0xDA, 0xDE, 0xD8, 0xA8, 0x60        }
        ,
        {
            0xAA, 0xDA, 0xD0, 0xDF, 0xD8, 0xF1, 0x97, 0x86, 0xA8, 0x31, 0x9B, 0x06, 0x99, 0x07, 0xAB, 0x97        }
        ,
        {
            0x28, 0x88, 0x9B, 0xF0, 0x0C, 0x20, 0x14, 0x40, 0xB8, 0xB0, 0xB4, 0xA8, 0x8C, 0x9C, 0xF0, 0x04        }
        ,
        {
            0x28, 0x51, 0x79, 0x1D, 0x30, 0x14, 0x38, 0xB2, 0x82, 0xAB, 0xD0, 0x98, 0x2C, 0x50, 0x50, 0x78        }
        ,
        {
            0x78, 0x9B, 0xF1, 0x1A, 0xB0, 0xF0, 0x8A, 0x9C, 0xA8, 0x29, 0x51, 0x79, 0x8B, 0x29, 0x51, 0x79        }
        ,
        {
            0x8A, 0x24, 0x70, 0x59, 0x8B, 0x20, 0x58, 0x71, 0x8A, 0x44, 0x69, 0x38, 0x8B, 0x39, 0x40, 0x68        }
        ,
        {
            0x8A, 0x64, 0x48, 0x31, 0x8B, 0x30, 0x49, 0x60, 0xA5, 0x88, 0x20, 0x09, 0x71, 0x58, 0x44, 0x68        }
    }
    ,
    {
        {
            0x11, 0x39, 0x64, 0x49, 0x30, 0x19, 0xF1, 0xAC, 0x00, 0x2C, 0x54, 0x7C, 0xF0, 0x8C, 0xA8, 0x04        }
        ,
        {
            0x28, 0x50, 0x78, 0xF1, 0x88, 0x97, 0x26, 0xA8, 0x59, 0x98, 0xAC, 0x8C, 0x02, 0x26, 0x46, 0x66        }
        ,
        {
            0xF0, 0x89, 0x9C, 0xA8, 0x29, 0x51, 0x79, 0x24, 0x70, 0x59, 0x44, 0x69, 0x38, 0x64, 0x48, 0x31        }
        ,
        {
            0xA9, 0x88, 0x09, 0x20, 0x59, 0x70, 0xAB, 0x11, 0x38, 0x40, 0x69, 0xA8, 0x19, 0x31, 0x48, 0x60        }
        ,
        {
            0x8C, 0xA8, 0x3C, 0x41, 0x5C, 0x20, 0x7C, 0x00, 0xF1, 0x87, 0x98, 0x19, 0x86, 0xA8, 0x6E, 0x76        }
        ,
        {
            0x7E, 0xA9, 0x99, 0x88, 0x2D, 0x55, 0x7D, 0x9E, 0xB9, 0xA3, 0x8A, 0x22, 0x8A, 0x6E, 0x8A, 0x56        }
        ,
        {
            0x8A, 0x5E, 0x9F, 0xB1, 0x83, 0x06, 0x26, 0x46, 0x66, 0x0E, 0x2E, 0x4E, 0x6E, 0x9D, 0xB8, 0xAD        }
        ,
        {
            0x00, 0x2C, 0x54, 0x7C, 0xF2, 0xB1, 0x8C, 0xB4, 0x99, 0xB9, 0xA3, 0x2D, 0x55, 0x7D, 0x81, 0x91        }
        ,
        {
            0xAC, 0x38, 0xAD, 0x3A, 0xB5, 0x83, 0x91, 0xAC, 0x2D, 0xD9, 0x28, 0xD8, 0x4D, 0xD9, 0x48, 0xD8        }
        ,
        {
            0x6D, 0xD9, 0x68, 0xD8, 0x8C, 0x9D, 0xAE, 0x29, 0xD9, 0x04, 0xAE, 0xD8, 0x51, 0xD9, 0x04, 0xAE        }
        ,
        {
            0xD8, 0x79, 0xD9, 0x04, 0xD8, 0x81, 0xF3, 0x9D, 0xAD, 0x00, 0x8D, 0xAE, 0x19, 0x81, 0xAD, 0xD9        }
        ,
        {
            0x01, 0xD8, 0xF2, 0xAE, 0xDA, 0x26, 0xD8, 0x8E, 0x91, 0x29, 0x83, 0xA7, 0xD9, 0xAD, 0xAD, 0xAD        }
        ,
        {
            0xAD, 0xF3, 0x2A, 0xD8, 0xD8, 0xF1, 0xB0, 0xAC, 0x89, 0x91, 0x3E, 0x5E, 0x76, 0xF3, 0xAC, 0x2E        }
        ,
        {
            0x2E, 0xF1, 0xB1, 0x8C, 0x5A, 0x9C, 0xAC, 0x2C, 0x28, 0x28, 0x28, 0x9C, 0xAC, 0x30, 0x18, 0xA8        }
        ,
        {
            0x98, 0x81, 0x28, 0x34, 0x3C, 0x97, 0x24, 0xA7, 0x28, 0x34, 0x3C, 0x9C, 0x24, 0xF2, 0xB0, 0x89        }
        ,
        {
            0xAC, 0x91, 0x2C, 0x4C, 0x6C, 0x8A, 0x9B, 0x2D, 0xD9, 0xD8, 0xD8, 0x51, 0xD9, 0xD8, 0xD8, 0x79        }
    }
    ,
    {
        {
            0xD9, 0xD8, 0xD8, 0xF1, 0x9E, 0x88, 0xA3, 0x31, 0xDA, 0xD8, 0xD8, 0x91, 0x2D, 0xD9, 0x28, 0xD8        }
        ,
        {
            0x4D, 0xD9, 0x48, 0xD8, 0x6D, 0xD9, 0x68, 0xD8, 0xB1, 0x83, 0x93, 0x35, 0x3D, 0x80, 0x25, 0xDA        }
        ,
        {
            0xD8, 0xD8, 0x85, 0x69, 0xDA, 0xD8, 0xD8, 0xB4, 0x93, 0x81, 0xA3, 0x28, 0x34, 0x3C, 0xF3, 0xAB        }
        ,
        {
            0x8B, 0xF8, 0xA3, 0x91, 0xB6, 0x09, 0xB4, 0xD9, 0xAB, 0xDE, 0xFA, 0xB0, 0x87, 0x9C, 0xB9, 0xA3        }
        ,
        {
            0xDD, 0xF1, 0xA3, 0xA3, 0xA3, 0xA3, 0x95, 0xF1, 0xA3, 0xA3, 0xA3, 0x9D, 0xF1, 0xA3, 0xA3, 0xA3        }
        ,
        {
            0xA3, 0xF2, 0xA3, 0xB4, 0x90, 0x80, 0xF2, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3        }
        ,
        {
            0xA3, 0xB2, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xB0, 0x87, 0xB5, 0x99, 0xF1, 0xA3, 0xA3, 0xA3        }
        ,
        {
            0x98, 0xF1, 0xA3, 0xA3, 0xA3, 0xA3, 0x97, 0xA3, 0xA3, 0xA3, 0xA3, 0xF3, 0x9B, 0xA3, 0xA3, 0xDC        }
        ,
        {
            0xB9, 0xA7, 0xF1, 0x26, 0x26, 0x26, 0xD8, 0xD8, 0xFF        }
    }
};

//DMP update transmissions (Bank, Start Address, Update Length, Update Data...)

static byte dmp_updates[29][9] =
{
    {
        0x03, 0x7B, 0x03, 0x4C, 0xCD, 0x6C    } //FCFG_1 inv_set_gyro_calibration
    ,
    {
        0x03, 0xAB, 0x03, 0x36, 0x56, 0x76     } //FCFG_3 inv_set_gyro_calibration
    ,
    {
        0x00, 0x68, 0x04, 0x02, 0xCB, 0x47, 0xA2     } //D_0_104 inv_set_gyro_calibration
    ,
    {
        0x02, 0x18, 0x04, 0x00, 0x05, 0x8B, 0xC1     } //D_0_24 inv_set_gyro_calibration
    ,
    {
        0x01, 0x0C, 0x04, 0x00, 0x00, 0x00, 0x00     } //D_1_152 inv_set_accel_calibration
    ,
    {
        0x03, 0x7F, 0x06, 0x0C, 0xC9, 0x2C, 0x97, 0x97, 0x97     } //FCFG_2 inv_set_accel_calibration
    ,
    {
        0x03, 0x89, 0x03, 0x26, 0x46, 0x66     } //FCFG_7 inv_set_accel_calibration
    ,
    {
        0x00, 0x6C, 0x02, 0x20, 0x00     } //D_0_108 inv_set_accel_calibration
    ,
    {
        0x02, 0x40, 0x04, 0x00, 0x00, 0x00, 0x00     } //CPASS_MTX_00 inv_set_compass_calibration
    ,
    {
        0x02, 0x44, 0x04, 0x00, 0x00, 0x00, 0x00     } //CPASS_MTX_01
    ,
    {
        0x02, 0x48, 0x04, 0x00, 0x00, 0x00, 0x00     } //CPASS_MTX_02
    ,
    {
        0x02, 0x4C, 0x04, 0x00, 0x00, 0x00, 0x00     } //CPASS_MTX_10
    ,
    {
        0x02, 0x50, 0x04, 0x00, 0x00, 0x00, 0x00     } //CPASS_MTX_11
    ,
    {
        0x02, 0x54, 0x04, 0x00, 0x00, 0x00, 0x00     } //CPASS_MTX_12
    ,
    {
        0x02, 0x58, 0x04, 0x00, 0x00, 0x00, 0x00     } //CPASS_MTX_20
    ,
    {
        0x02, 0x5C, 0x04, 0x00, 0x00, 0x00, 0x00     } //CPASS_MTX_21
    ,
    {
        0x02, 0xBC, 0x04, 0x00, 0x00, 0x00, 0x00     } //CPASS_MTX_22
    ,
    {
        0x01, 0xEC, 0x04, 0x00, 0x00, 0x40, 0x00     } //D_1_236 inv_apply_endian_accel
    ,
    {
        0x03, 0x7F, 0x06, 0x0C, 0xC9, 0x2C, 0x97, 0x97, 0x97     } //FCFG_2 inv_set_mpu_sensors
    ,
    {
        0x04, 0x02, 0x03, 0x0D, 0x35, 0x5D     } //CFG_MOTION_BIAS inv_turn_on_bias_from_no_motion
    ,
    {
        0x04, 0x09, 0x04, 0x87, 0x2D, 0x35, 0x3D     } //FCFG_5 inv_set_bias_update
    ,
    {
        0x00, 0xA3, 0x01, 0x00     } //D_0_163 inv_set_dead_zone
    ,
    //SET INT_ENABLE at i=22
    {
        0x07, 0x86, 0x01, 0xFE     } //CFG_6 inv_set_fifo_interupt
    ,
    {
        0x07, 0x41, 0x05, 0xF1, 0x20, 0x28, 0x30, 0x38     } //CFG_8 inv_send_quaternion
    ,
    {
        0x07, 0x7E, 0x01, 0x30     } //CFG_16 inv_set_footer
    ,
    {
        0x07, 0x46, 0x01, 0x9A     } //CFG_GYRO_SOURCE inv_send_gyro
    ,
    {
        0x07, 0x47, 0x04, 0xF1, 0x28, 0x30, 0x38     } //CFG_9 inv_send_gyro -> inv_construct3_fifo
    ,
    {
        0x07, 0x6C, 0x04, 0xF1, 0x28, 0x30, 0x38     } //CFG_12 inv_send_accel -> inv_construct3_fifo
    ,
    {
        0x02, 0x16, 0x02, 0x00, 0x0A     } //D_0_22 inv_set_fifo_rate
};



/*
void setup(){

 // activate i2c
 pinMode(23, OUTPUT);     
 digitalWrite(23, LOW);  
 
 
 Serial.begin(115200);
 
 Wire.begin();
 delay(1);
 check_MPU();
 
 Serial.println("MPU-6050 6-Axis");
 
 regWrite(0x6B, 0xC0);
 regWrite(0x6C, 0x00);
 delay(10);
 
 // regWrite(0x6B, 0x70);
 regWrite(0x6B, 0x00);
 regWrite(0x6D, 0x70);
 regWrite(0x6E, 0x06);
 temp = regRead(0x6F);
 Serial.print("Bank 1, Reg 6 = ");
 Serial.println(temp, HEX);
 
 // temp = regRead(0x6B);
 // Serial.println(temp, HEX);
 
 regWrite(0x6D, 0x00);
 
 temp = regRead(0x00);
 Serial.println(temp, HEX);
 temp = regRead(0x01);
 Serial.println(temp, HEX);
 temp = regRead(0x02);
 Serial.println(temp, HEX);
 temp = regRead(0x6A);
 Serial.println(temp, HEX);
 
 regWrite(0x37, 0x32);
 
 temp = regRead(0x6B);
 Serial.println(temp, HEX);
 delay(5);
 // regWrite(0x25, 0x68); //Set Slave 0 to self
 //
 // regWrite(0x6A, 0x02);
 
 mem_init();
 delay(20);
 }
 */


void dmp_init(){

    for(int i = 0; i < 7; i++){
        bank_sel(i);
        for(byte j = 0; j < 16; j++){

            byte start_addy = j * 0x10;

            Wire.beginTransmission(MPU_ADDR);
            Wire.send(MEM_START_ADDR);
            Wire.send(start_addy);
            Wire.endTransmission();

            Wire.beginTransmission(MPU_ADDR);
            Wire.send(MEM_R_W);
            for(int k = 0; k < 16; k++){
                unsigned char byteToSend = pgm_read_byte(&(dmpMem[i][j][k]));
                Wire.send((byte) byteToSend);
            }
            Wire.endTransmission();
        }

        // Wire.beginTransmission(MPU_ADDR);
        // Wire.send(MEM_R_W);
        // Wire.endTransmission();
        // Wire.requestFrom(MPU_ADDR, 16);
        // byte echoback[16];
        // for(int j = 0; j < 16; j++){
        // echoback[j] = Wire.receive();
        // }
        // for(int j = 0; j < 16; j++){
        // Serial.print(echoback[j], HEX);
        // }

    }

    bank_sel(7);

    for(byte j = 0; j < 8; j++){

        byte start_addy = j * 0x10;

        Wire.beginTransmission(MPU_ADDR);
        Wire.send(MEM_START_ADDR);
        Wire.send(start_addy);
        Wire.endTransmission();

        Wire.beginTransmission(MPU_ADDR);
        Wire.send(MEM_R_W);
        for(int k = 0; k < 16; k++){
            unsigned char byteToSend = pgm_read_byte(&(dmpMem[7][j][k]));
            Wire.send((byte) byteToSend);
        }
        Wire.endTransmission();
    }

    Wire.beginTransmission(MPU_ADDR);
    Wire.send(MEM_START_ADDR);
    Wire.send(0x80);
    Wire.endTransmission();

    Wire.beginTransmission(MPU_ADDR);
    Wire.send(MEM_R_W);
    for(int k = 0; k < 9; k++){
        unsigned char byteToSend = pgm_read_byte(&(dmpMem[7][8][k]));
        Wire.send((byte) byteToSend);
    }
    Wire.endTransmission();

    Wire.beginTransmission(MPU_ADDR);
    Wire.send(MEM_R_W);
    Wire.endTransmission();
    Wire.beginTransmission(MPU_ADDR);
    Wire.requestFrom(MPU_ADDR,9);
    // Wire.endTransmission();
    byte incoming[9];
    for(int i = 0; i < 9; i++){
        incoming[i] = Wire.receive();
    }

    // bank_sel(3);
    // Wire.beginTransmission(MPU_ADDR);
    // Wire.send(MEM_START_ADDR);
    // Wire.send(0x10);
    // Wire.endTransmission();
    // Wire.beginTransmission(MPU_ADDR);
    // Wire.send(MEM_R_W);
    // Wire.endTransmission();
    // Wire.beginTransmission(MPU_ADDR);
    // Wire.requestFrom(MPU_ADDR,16);
    // Wire.endTransmission();
    // byte incoming[16];
    // for(int i = 0; i < 16; i++){
    // incoming[i] = Wire.receive();
    // }

}

void mem_init(){

    dmp_init();

    for(byte i = 0; i < 22; i++){
        bank_sel(dmp_updates[i][0]);
        Wire.beginTransmission(MPU_ADDR);
        Wire.send(MEM_START_ADDR);
        Wire.send(dmp_updates[i][1]);
        Wire.endTransmission();

        Wire.beginTransmission(MPU_ADDR);
        Wire.send(MEM_R_W);
        for(byte j = 0; j < dmp_updates[i][2]; j++){
            Wire.send(dmp_updates[i][j+3]);
        }
        Wire.endTransmission();
    }

    regWrite(0x38, 0x32);

    for(byte i = 22; i < 29; i++){
        bank_sel(dmp_updates[i][0]);
        Wire.beginTransmission(MPU_ADDR);
        Wire.send(MEM_START_ADDR);
        Wire.send(dmp_updates[i][1]);
        Wire.endTransmission();

        Wire.beginTransmission(MPU_ADDR);
        Wire.send(MEM_R_W);
        for(byte j = 0; j < dmp_updates[i][2]; j++){
            Wire.send(dmp_updates[i][j+3]);
        }
        Wire.endTransmission();
    }

    temp = regRead(0x6B);
    // Serial.println(temp, HEX);
    temp = regRead(0x6C);
    //  Serial.println(temp, HEX);

    regWrite(0x38, 0x02);
    regWrite(0x6B, 0x03);
    // regWrite(0x6B, 0x70);
    // regWrite(0x38, 0x38);
    // regWrite(0x6B, 0x73);
    regWrite(0x19, 0x04);
    regWrite(0x1B, 0x18);
    regWrite(0x1A, 0x0B);
    regWrite(0x70, 0x03);
    regWrite(0x71, 0x00);
    regWrite(0x00, 0x00);
    regWrite(0x01, 0x00);
    regWrite(0x02, 0x00);

    Wire.beginTransmission(MPU_ADDR);
    Wire.send(0x13);
    for(byte i = 0; i < 6; i++){
        Wire.send(0x00);
    }
    Wire.endTransmission();

    // regWrite(0x24, 0x00);

    bank_sel(0x01);
    regWrite(0x6E, 0xB2);
    Wire.beginTransmission(MPU_ADDR);
    Wire.send(0x6F);
    Wire.send(0xFF);
    Wire.send(0xFF);
    Wire.endTransmission();

    bank_sel(0x01);
    regWrite(0x6E, 0x90);

    Wire.beginTransmission(MPU_ADDR);
    Wire.send(0x6F);
    Wire.send(0x09);
    Wire.send(0x23);
    Wire.send(0xA1);
    Wire.send(0x35);
    Wire.endTransmission();

    temp = regRead(0x6A);

    regWrite(0x6A, 0x04);

    //Insert FIFO count read?
    fifoReady();

    regWrite(0x6A, 0x00);
    regWrite(0x6B, 0x03);

    delay(2);

    temp = regRead(0x6C);
    // Serial.println(temp, HEX);
    regWrite(0x6C, 0x00);
    temp = regRead(0x1C);
    // Serial.println(temp, HEX);
    regWrite(0x1C, 0x00);
    delay(2);
    temp = regRead(0x6B);
    // Serial.println(temp, HEX);
    regWrite(0x1F, 0x02);
    regWrite(0x21, 0x9C);
    regWrite(0x20, 0x50);
    regWrite(0x22, 0x00);
    regWrite(0x6A, 0x04);
    regWrite(0x6A, 0x00);
    regWrite(0x6A, 0xC8);

    bank_sel(0x01);
    regWrite(0x6E, 0x6A);
    Wire.beginTransmission(MPU_ADDR);
    Wire.send(0x6F);
    Wire.send(0x06);
    Wire.send(0x00);
    Wire.endTransmission();

    bank_sel(0x01);
    regWrite(0x6E, 0x60);
    Wire.beginTransmission(MPU_ADDR);
    Wire.send(0x6F);
    for(byte i = 0; i < 8; i++){
        Wire.send(0x00);
    }
    Wire.endTransmission();

    // bank_sel(0x01);
    // regWrite(0x6E, 0x60);
    // Wire.beginTransmission(MPU_ADDR);
    // Wire.send(0x6F);
    // Wire.send(0x04); Wire.send(0x00); Wire.send(0x00); Wire.send(0x00);
    // Wire.endTransmission();

    bank_sel(0x00);
    regWrite(0x6E, 0x60);
    Wire.beginTransmission(MPU_ADDR);
    Wire.send(0x6F);
    Wire.send(0x40);
    Wire.send(0x00);
    Wire.send(0x00);
    Wire.send(0x00);
    Wire.endTransmission();

    //resetFifo();

}

void regWrite(byte addy, byte regUpdate){
    Wire.beginTransmission(MPU_ADDR);
    Wire.send(addy);
    Wire.send(regUpdate);
    Wire.endTransmission();
}

byte regRead(byte addy){
    Wire.beginTransmission(MPU_ADDR);
    Wire.send(addy);
    Wire.endTransmission();
    Wire.beginTransmission(MPU_ADDR);
    Wire.requestFrom(MPU_ADDR,1);
    // Wire.endTransmission();
    while(!Wire.available()){
    }
    byte incoming = Wire.receive();
    return incoming;
}

void getPacket(){
    if(fifoCountL > 32){
        fifoCountL2 = fifoCountL - 32;
        longPacket = true;
    }
    Wire.beginTransmission(MPU_ADDR);
    Wire.send(0x74);
    Wire.endTransmission();
    // Wire.requestFrom(MPU_ADDR, 42);
    // for(byte i = 0; i < fifoCountL; i++){
    if(longPacket){
        Wire.beginTransmission(MPU_ADDR);
        Wire.requestFrom(MPU_ADDR, 32);
        for(byte i = 0; i < 32; i++){
            received_packet[i] = Wire.receive();
        }
        Wire.beginTransmission(MPU_ADDR);
        Wire.send(0x74);
        Wire.endTransmission();
        Wire.beginTransmission(MPU_ADDR);
        Wire.requestFrom(MPU_ADDR, (unsigned int)fifoCountL2);
        for(byte i = 32; i < fifoCountL; i++){
            received_packet[i] = Wire.receive();
        }
        longPacket = false;
    }
    else{
        Wire.beginTransmission(MPU_ADDR);
        Wire.requestFrom(MPU_ADDR, (unsigned int)fifoCountL);
        for(byte i = 0; i < fifoCountL; i++){
            received_packet[i] = Wire.receive();
        }
    }
}

byte read_interrupt()
{
    byte int_status = regRead(0x3A);
    return int_status;
}

boolean fifoReady()
{
    Wire.beginTransmission(MPU_ADDR);
    Wire.send(0x72);
    Wire.endTransmission();
    Wire.beginTransmission(MPU_ADDR);
    Wire.requestFrom(MPU_ADDR,2);
    // Wire.endTransmission();
    byte fifoCountH = Wire.receive();
    fifoCountL = Wire.receive();
    // Serial.println(fifoCountL, DEC);
    if(fifoCountL == 42 || fifoCountL == 44)
    {
        DEBUG_OUTPUT("fifoReady");
        return 1;
    }
    // else if(fifoCountL != 0){
    // resetFifo();
    // }


    // else if(fifoCountL == 42){
    // getPacket();
    // bank_sel(0);
    // regWrite(0x6E, 0x60);
    // Wire.beginTransmission(MPU_ADDR);
    // Wire.send(0x40); Wire.send(0x00); Wire.send (0x00); Wire.send(0x00);
    // Wire.endTransmission();
    // resetFifo();
    // }

    // if(Wire.receive() == 0x2C){
    // return 1;
    // }
    else return 0;
}

void resetFifo()
{
    byte ctrl = regRead(0x6A);
    ctrl |= 0b00000100;
    regWrite(0x6A, ctrl);
}

bool check_MPU()
{

    Wire.beginTransmission(MPU_ADDR);
    Wire.send(0x75);
    Wire.endTransmission();
    Wire.beginTransmission(MPU_ADDR);
    Wire.requestFrom(MPU_ADDR,1);
    byte aByte = Wire.receive();
    // Wire.endTransmission();
    // while(Wire.available() == 0){

    // }
    // byte temp = Wire.receive();
    // Serial.println(temp);

    if(aByte == 0x68)
    {
        DEBUG_OUTPUT("Found MPU6050");
        return true;
    }
    else
    {
        DEBUG_OUTPUT("Didn't find MPU6050");
        return false;
    }


}

void processQuat(){
    processed_packet[0] = received_packet[0];
    processed_packet[1] = received_packet[1];
    processed_packet[2] = received_packet[4];
    processed_packet[3] = received_packet[5];
    processed_packet[4] = received_packet[8];
    processed_packet[5] = received_packet[9];
    processed_packet[6] = received_packet[12];
    processed_packet[7] = received_packet[13];

}

void sendQuat(){
    /*
  byte packetType = 0x02;
   byte button = 0x00;
   Serial.print("$"); Serial.print(packetType);
   for(byte i = 0; i < 8; i++){
   Serial.print(processed_packet[i]);
   }
   Serial.print(button); Serial.print(packetCount);
   Serial.print("\r\n");
   if(packetCount < 0xFF){packetCount++;}
   else{packetCount = 0x00;}
   */

    // following conversion adapted from Invensense's TeaPot example
    q[0] = (long) ((((unsigned long) processed_packet[0]) << 8) + ((unsigned long) processed_packet[1]));
    q[1] = (long) ((((unsigned long) processed_packet[2]) << 8) + ((unsigned long) processed_packet[3]));
    q[2] = (long) ((((unsigned long) processed_packet[4]) << 8) + ((unsigned long) processed_packet[5]));
    q[3] = (long) ((((unsigned long) processed_packet[6]) << 8)  + ((unsigned long) processed_packet[7]));
    for(int i = 0; i < 4; i++ )
    {
        if( q[i] > 32767 )
            q[i] -= 65536;

        q[i] = ((float) q[i]) / 16384.0f;
    }

#ifdef SERIAL_DEBUG
    serialPrintFloatArr(q, 4);
    Serial.print("\n");
#endif
}

void sendPacket(){
    for(byte i = 0; i < fifoCountL-1; i++){
        Serial.print(received_packet[i], HEX);
        Serial.print(" ");
    }
    Serial.println(received_packet[fifoCountL-1], HEX);
    Serial.println();
}

void sendHeader(){
    for(byte i = 0; i < 2; i++){
        Serial.print(received_packet[i], HEX);
        Serial.print(" ");
    }
    Serial.println();
}

void bank_sel(byte bank){
    Wire.beginTransmission(MPU_ADDR);
    Wire.send(0x6D);
    Wire.send(bank);
    Wire.endTransmission();
}

void serialPrintFloatArr(float * arr, int length) {
    for(int i=0; i<length; i++) {
        serialFloatPrint(arr[i]);
        Serial.print(",");
    }
}

void serialFloatPrint(float f) {
    byte * b = (byte *) &f;
    for(int i=0; i<4; i++) {

        byte b1 = (b[i] >> 4) & 0x0f;
        byte b2 = (b[i] & 0x0f);

        char c1 = (b1 < 10) ? ('0' + b1) : 'A' + b1 - 10;
        char c2 = (b2 < 10) ? ('0' + b2) : 'A' + b2 - 10;

        Serial.print(c1);
        Serial.print(c2);
    }
}

///////////////////////////////////////////////////////////////////////////////
// DakaXIMUImpl
bool DakaXIMUImpl::begin()
{  
    Wire.begin();
    delay(1);
    if(check_MPU() == false)
    {
        _foundChip = false;
        return false;
    }

    DEBUG_OUTPUT("MPU-6050 6-Axis");

    regWrite(0x6B, 0xC0);
    regWrite(0x6C, 0x00);
    delay(10);

    // regWrite(0x6B, 0x70);
    regWrite(0x6B, 0x00);
    regWrite(0x6D, 0x70);
    regWrite(0x6E, 0x06);
    temp = regRead(0x6F);

    // temp = regRead(0x6B);
    // Serial.println(temp, HEX);

    regWrite(0x6D, 0x00);

    temp = regRead(0x00);
    DEBUG_OUTPUT(temp, HEX);
    temp = regRead(0x01);
    DEBUG_OUTPUT(temp, HEX);
    temp = regRead(0x02);
    DEBUG_OUTPUT(temp, HEX);
    temp = regRead(0x6A);
    DEBUG_OUTPUT(temp, HEX);

    regWrite(0x37, 0x32);

    temp = regRead(0x6B);
    DEBUG_OUTPUT(temp, HEX);
    delay(5);

    mem_init();
    delay(20);

    _foundChip = true;
    return true;
}

void getQuat(float* quat)
{
    // read out and format data
    quat[0] = (long) ((((unsigned long) processed_packet[0]) << 8) + ((unsigned long) processed_packet[1]));
    quat[1] = (long) ((((unsigned long) processed_packet[2]) << 8) + ((unsigned long) processed_packet[3]));
    quat[2] = (long) ((((unsigned long) processed_packet[4]) << 8) + ((unsigned long) processed_packet[5]));
    quat[3] = (long) ((((unsigned long) processed_packet[6]) << 8)  + ((unsigned long) processed_packet[7]));
    for(int i = 0; i < 4; i++ )
    {
        if( quat[i] > 32767 )
        {
            quat[i] -= 65536;
        }
        quat[i] = ((float) quat[i]) / 16384.0f;
    }
}

void DakaXIMUImpl::update()
{
    if(!_foundChip)
        return;

    if(millis() >= lastRead + 10)
    {
        lastRead = millis();
        // byte int_status = read_interrupt();
        // if(int_status & 0b00010000 != 0){
        // resetFifo();
        // Serial.println("FIFO Overflow");
        // }
        // if(int_status & 0b00000011 != 0){
        // getPacket();
        // sendPacket();
        // }
        if(fifoReady())
        {
            getPacket();
            temp = regRead(0x3A);
            if(firstPacket){
                delay(1);
                bank_sel(0x00);
                regWrite(0x6E, 0x60);
                Wire.beginTransmission(MPU_ADDR);
                Wire.send(0x6F);
                Wire.send(0x04);
                Wire.send(0x00);
                Wire.send(0x00);
                Wire.send(0x00);
                // Wire.send(0x00); Wire.send(0x80); Wire.send(0x00); Wire.send(0x00);
                Wire.endTransmission();
                bank_sel(1);
                regWrite(0x6E, 0x62);
                Wire.beginTransmission(MPU_ADDR);
                Wire.send(0x6F);
                Wire.endTransmission();
                Wire.beginTransmission(MPU_ADDR);
                Wire.requestFrom(MPU_ADDR,2);
                temp = Wire.receive();
                temp = Wire.receive();
                firstPacket = false;

                fifoReady();
            }

            // resetFifo();

            if(fifoCountL == 42)
            {
                processQuat();

                // save the results
                getQuat(_quat);
#ifdef SERIAL_DEBUG
                sendQuat(Serial);
#endif
                //::sendQuat();
            }
        }
    }
}

void DakaXIMUImpl::sendQuat(HardwareSerial& serial)
{
    // read out and format data
    q[0] = (long) ((((unsigned long) processed_packet[0]) << 8) + ((unsigned long) processed_packet[1]));
    q[1] = (long) ((((unsigned long) processed_packet[2]) << 8) + ((unsigned long) processed_packet[3]));
    q[2] = (long) ((((unsigned long) processed_packet[4]) << 8) + ((unsigned long) processed_packet[5]));
    q[3] = (long) ((((unsigned long) processed_packet[6]) << 8)  + ((unsigned long) processed_packet[7]));
    for(int i = 0; i < 4; i++ )
    {
        if( q[i] > 32767 )
        {
            q[i] -= 65536;
        }
        q[i] = ((float) q[i]) / 16384.0f;
    }

    serialPrintFloatArr(serial,q,4);
    //serial.print("hallo");
    serial.print("\n");
}

void DakaXIMUImpl::serialPrintFloatArr(HardwareSerial& serial,float * arr, int length)
{
    for(int i=0; i<length; i++)
    {
        serialFloatPrint(serial,arr[i]);
        serial.print(",");
    }
}

void DakaXIMUImpl::serialFloatPrint(HardwareSerial& serial,float f)
{
    byte * b = (byte *) &f;
    for(int i=0; i<4; i++)
    {
        byte b1 = (b[i] >> 4) & 0x0f;
        byte b2 = (b[i] & 0x0f);

        char c1 = (b1 < 10) ? ('0' + b1) : 'A' + b1 - 10;
        char c2 = (b2 < 10) ? ('0' + b2) : 'A' + b2 - 10;

        serial.print(c1);
        serial.print(c2);
    }
}

